#ifndef __OPERATE_H
#define __OPERATE_H

#include "arm_math.h"

typedef struct
{
    float T_out[16];
}T_Matrix_Data_typdef;

void Matrixs_Init(void);
void Operate_Task(void);

extern float q_arm[4];
extern float q_fing[4];

typedef struct 
{
	struct
	{
		float P_X;
		float P_Y;
		float P_Z;
	}Ax6_P;
	
	struct
	{
		float rpy_R;
		float rpy_P;
		float rpy_Y;
	}Ax6_R;
	
	struct
	{
		float q0;
		float q1;
		float q2;
		float q3;
	}Ax6_Q;
	
}Ax6_t;

extern Ax6_t Ax6;

#endif
